#!/usr/bin/env python3
# coding=utf-8

import rospy
from geometry_msgs.msg import Twist

rospy.init_node("vel_py_mode")
vel = rospy.Publisher("/cmd_vel", Twist, queue_size=10)
rate = rospy.Rate(30)

while not rospy.is_shutdown():
    msg = Twist()
    msg.linear.x = 0.5
    msg.linear.y = 0
    msg.linear.z = 0
    msg.angular.x = 0;
    msg.angular.y = 0;
    msg.angular.z = -0.5;

    vel.publish(msg)
    rate.sleep()
